Newport XPS-RL Motion Controller User manual

XPS-RL

Universal High-

Performance

Motion Controller/Driver

User’s Manual

V1.0.x

XPS-RL Universal High-Performance Motion Controller/Driver

Warranty

Newport Corporation warrants that this product will be free from defects in material and

workmanship and will comply with Newport’s published specifications at the time of

sale for a period of one year from date of shipment. If found to be defective during the

warranty period, the product will either be repaired or replaced at Newport's option.

To exercise this warranty, write or call your local Newport office or representative, or

contact Newport headquarters in Irvine, California. You will be given prompt assistance

and return instructions. Send the product, freight prepaid, to the indicated service

facility. Repairs will be made and the instrument returned freight prepaid. Repaired

products are warranted for the remainder of the original warranty period or 90 days,

whichever comes first.

Limitation of Warranty

The above warranties do not apply to products which have been repaired or modified

without Newport’s written approval, or products subjected to unusual physical, thermal

or electrical stress, improper installation, misuse, abuse, accident or negligence in use,

storage, transportation or handling. This warranty also does not apply to fuses, batteries,

or damage from battery leakage.

THIS WARRANTY IS IN LIEU OF ALL OTHER WARRANTIES, EXPRESSED OR

IMPLIED, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY

OR FITNESS FOR A PARTICULAR USE. NEWPORT CORPORATION SHALL

NOT BE LIABLE FOR ANY INDIRECT, SPECIAL, OR CONSEQUENTIAL

DAMAGES RESULTING FROM THE PURCHASE OR USE OF ITS PRODUCTS.

Original instructions.

No part of this document may be reproduced or copied without the prior written

approval of Newport Corporation. This document is provided for information only, and

product specifications are subject to change without notice. Any change will be

reflected in future publishings.

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Table of Contents

Waranty ............................................................................................................................ii

EU Declaration of Conformity ..................................................................................... xiii

Preface ........................................................................................................................... xiv

User’s Manual

1.0 Introduction ............................................................................................. 1

1.1 Scope of the Manual ......................................................................................................... 1

1.2 Definitions and Symbols .................................................................................................. 3

1.2.1 General Warning or Caution ............................................................................... 3

1.2.2 Electric Shock ..................................................................................................... 3

1.2.3 European Union CE Mark .................................................................................. 3

1.2.4 “ON” Symbol ..................................................................................................... 3

1.2.5 “OFF” Symbol .................................................................................................... 3

1.3 Warnings and Cautions ..................................................................................................... 4

1.4 General Warnings and Cautions ....................................................................................... 4

2.0 System Overview ..................................................................................... 6

2.1 Specifications ................................................................................................................... 6

2.2 Drive Options ................................................................................................................... 8

2.3 Compatible Newport Positioners and Drive Power Consumption .................................... 9

2.4 XPS Hardware Overview ................................................................................................. 9

2.5 Rear Panel Description ................................................................................................... 10

2.5.1 Axis Connectors (AXIS 1 – AXIS 4) ............................................................... 11

2.6 Ethernet Configuration ................................................................................................... 11

2.6.1 Communication Protocols ................................................................................ 12

2.6.2 Addressing ........................................................................................................ 12

2.7 Sockets, Multitasking and Multi-user Applications ........................................................ 12

2.8 Programming with TCL .................................................................................................. 13

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3.0 Getting Started ...................................................................................... 14

3.1 Unpacking and Handling ................................................................................................ 14

3.2 Inspection for Damage .................................................................................................... 14

3.3 Packing List .................................................................................................................... 14

3.4 System Setup .................................................................................................................. 14

3.4.1 Installing Driver cards ...................................................................................... 15

3.4.2 Power ON ......................................................................................................... 15

3.5 Connecting to the XPS ................................................................................................... 16

3.5.1 Straight through cables (black) ......................................................................... 16

3.5.2 Cross-over cables (gray) ................................................................................... 16

3.5.3 Direct Connection to the XPS Controller ......................................................... 17

3.5.4 Connecting the XPS to a Corporate Network using Static IP Configuration ... 20

3.5.5 Configuring the XPS for Connection to a Corporate Network Using Dynamic

IP Configuration ............................................................................................... 21

3.5.6 Recovering a lost IP configuration ................................................................... 23

3.6 Testing your XPS-PC Connection and Communication ................................................. 24

3.7 Connecting the Stages .................................................................................................... 25

3.8 Configuring the Controller ............................................................................................. 26

3.8.1 Default Configuration ....................................................................................... 27

3.8.2 Quick Configuration for Newport Positioners .................................................. 29

3.8.3 Manual Configuration for Newport Positioners ............................................... 31

3.8.4 Manual Configuration for non Newport stages ................................................ 36

3.9 System Shut-Down ......................................................................................................... 36

Software Tools

4.0 Software Tools ....................................................................................... 37

4.1 Software Tools Overview ............................................................................................... 37

4.2 Restart and Reboot.......................................................................................................... 38

4.3 Controller – Users Management ..................................................................................... 39

4.4 Controller – IP Management .......................................................................................... 40

4.5 Controller – General ....................................................................................................... 40

4.6 Controller – Terminal Configurator ................................................................................ 41

4.7 Controller – TCL to API Builder .................................................................................... 42

4.8 Controller – Firmware Update ........................................................................................ 44

4.9 System – Error file display ............................................................................................. 45

4.10 System – Last error file display ...................................................................................... 46

4.11 System – Default Configuration ..................................................................................... 47

4.12 System – Quick Configuration ....................................................................................... 48

4.13 System – Manual Configuration ..................................................................................... 49

4.14 Stage – Add, Remove or Edit Stages .............................................................................. 52

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4.15

Stages – Create Custom Stages ....................................................................................... 55

4.16 Stages – Tuning .............................................................................................................. 56

4.16.1 Tuning – Auto-Scaling ..................................................................................... 56

4.16.2 Tuning – Auto-Tuning ...................................................................................... 57

4.17 Front Panel – Move ........................................................................................................ 60

4.18 Front Panel – Cycle ........................................................................................................ 61

4.19 Front Panel – Jog ............................................................................................................ 61

4.20 Front Panel – Spindle ..................................................................................................... 62

4.21 Front Panel – I/O Control ............................................................................................... 63

4.22 Front Panel – Device Status ............................................................................................ 64

4.22.1 Device Status – Positioner Errors ..................................................................... 64

4.22.2 Device Status – Hardware Status ...................................................................... 65

4.22.3 Device Status – Driver status ............................................................................ 65

4.23 Terminal ......................................................................................................................... 66

4.24 Data Acquisition – Easy gathering ................................................................................. 69

4.25 Data Acquisition – Easy External Gathering .................................................................. 75

4.26 Data Acquisition – Functional Tests ............................................................................... 80

4.27 Files – Gathering Files .................................................................................................... 81

4.28 Files – Trajectory Files ................................................................................................... 82

4.29 Files – TCL Scripts ......................................................................................................... 83

4.30 Files – Configuration Files ............................................................................................. 84

4.31 Files – Log Files ............................................................................................................. 85

4.32 FTP (File Transfer Protocol) Connection ....................................................................... 86

5.0 Maintenance and Service ...................................................................... 88

5.1 Enclosure Cleaning ......................................................................................................... 88

5.2 Obtaining Service ........................................................................................................... 88

5.3 Troubleshooting .............................................................................................................. 88

Motion Tutorial

6.0 XPS Architecture ................................................................................... 89

6.1 Introduction .................................................................................................................... 89

6.2 State Diagrams ................................................................................................................ 90

6.3 Motion Groups ................................................................................................................ 92

6.3.1 Specific SingleAxis Group Features ................................................................. 93

6.3.2 Specific Spindle Group Features ...................................................................... 93

6.3.3 Specific XY Group Features ............................................................................. 93

6.3.4 Specific XYZ Group Features .......................................................................... 93

6.3.5 Specific MultipleAxes Features ........................................................................ 93

6.4 Native Units .................................................................................................................... 93

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7.0 Motion ..................................................................................................... 95

7.1 Motion Profiles ............................................................................................................... 95

7.2 Home Search .................................................................................................................. 97

7.3 Referencing State .......................................................................................................... 100

7.3.1 Move on sensor events ................................................................................... 101

7.3.2 Moves of Certain Displacements .................................................................... 102

7.3.3 Position Counter Resets .................................................................................. 102

7.3.4 State Diagram ................................................................................................. 103

7.3.5 Example: MechanicalZeroAndIndexHomeSearch ......................................... 103

7.4 Move ............................................................................................................................. 103

7.5 Motion Done ................................................................................................................. 105

7.6 JOG ............................................................................................................................... 107

7.7 Master Slave ................................................................................................................. 108

7.8 Analog Tracking ........................................................................................................... 109

7.8.1 Analog Position Tracking ............................................................................... 110

7.8.2 Analog Velocity Tracking .............................................................................. 110

8.0 Trajectories .......................................................................................... 112

8.1 Line-Arc Trajectories ................................................................................................... 112

8.1.1 Trajectory Terminology .................................................................................. 112

8.1.2 Trajectory Conventions .................................................................................. 113

8.1.3 Geometric Conventions .................................................................................. 113

8.1.4 Defining Line-Arc Trajectory Elements ......................................................... 113

8.1.5 Define Lines ................................................................................................... 114

8.1.6 Define Arcs ..................................................................................................... 115

8.1.7 Trajectory File Description ............................................................................. 115

8.1.8 Trajectory File Examples ................................................................................ 115

8.1.9 Trajectory Verification and Execution ........................................................... 116

8.1.10 Examples of the Use of the Functions ............................................................ 117

8.2 Splines .......................................................................................................................... 118

8.2.1 Trajectory Terminology .................................................................................. 118

8.2.2 Trajectory Conventions .................................................................................. 118

8.2.3 Geometric Conventions .................................................................................. 118

8.2.4 Catmull-Rom Interpolating Splines ................................................................ 119

8.2.5 Trajectory Elements Arc Length Calculation ................................................. 119

8.2.6 Trajectory File Description ............................................................................. 120

8.2.7 Trajectory File Example ................................................................................. 120

8.2.8 Spline Trajectory Verification and Execution ................................................ 122

8.2.9 Examples ........................................................................................................ 123

8.3 PVT Trajectories .......................................................................................................... 123

8.3.1 Trajectory Terminology .................................................................................. 123

8.3.2 Trajectory Conventions .................................................................................. 123

8.3.3 Geometric Conventions .................................................................................. 124

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8.3.4

PVT Interpolation ........................................................................................... 124

8.3.5 Influence of the Element Output Velocity to the Trajectory .......................... 125

8.3.6 Trajectory File Description ............................................................................. 126

8.3.7 Trajectory File Example ................................................................................. 127

8.3.8 PVT Trajectory Verification and Execution ................................................... 129

8.3.9 Example with a MultpleAxes Group .............................................................. 130

8.4 PT Trajectrories ............................................................................................................ 130

8.4.1 Trajectory Terminology .................................................................................. 130

8.4.2 Trajectory Conventions .................................................................................. 130

8.4.3 Geometric Conventions .................................................................................. 131

8.4.4 PT Interpolation .............................................................................................. 131

8.4.5 Trajectory File Description ............................................................................. 132

8.4.6 Trajectory File Example ................................................................................. 133

8.4.7 PT Trajectory Verification and Execution ...................................................... 135

8.4.8 Example of how to use PVT functions ........................................................... 135

9.0 Emergency Brake and Emergency Stop Cases ................................. 136

10.0 Compensation ...................................................................................... 139

10.1 Definitions .................................................................................................................... 139

10.2 Backlash Compensation ............................................................................................... 140

10.3 Linear Error Correction ................................................................................................ 141

10.4 Positioner Mapping....................................................................................................... 141

10.5 XY Mapping ................................................................................................................. 143

10.5.1 Multiple XY Mappings in Series .................................................................... 145

10.6 XYZ Mapping .............................................................................................................. 146

11.0 Event Triggers ..................................................................................... 152

11.1 Events ........................................................................................................................... 152

11.2 Actions .......................................................................................................................... 162

11.3 Functions ...................................................................................................................... 167

11.4 Examples ...................................................................................................................... 168

12.0 Data Gathering .................................................................................... 174

12.1 Time-Based (Internal) Data Gathering ......................................................................... 175

12.2 Event-Based (Internal) Data Gathering ........................................................................ 178

12.3 Function-Based (Internal) Data Gathering ................................................................... 180

12.4 Trigger-Based (External) Data Gathering ..................................................................... 181

13.0 Output Triggers ................................................................................... 183

13.1 Triggers on Line-Arc Trajectories ................................................................................ 183

13.2 Triggers on PVT Trajectories ....................................................................................... 185

13.3 Triggers on PT Trajectories .......................................................................................... 186

13.4 Distance, Time Spaced Pulses or AquadB Position Compare ...................................... 187

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13.4.1 Even Distance Spaced Pulses Position Compare ............................................ 187

13.4.2 Compensated Position Compare ..................................................................... 191

13.4.3 Time Spaced Pulses (Time Flasher) ............................................................... 194

13.4.4 AquadB Signals on PCO Connector ............................................................... 197

14.0 Control Loops ...................................................................................... 199

14.1 XPS Servo Loops ......................................................................................................... 199

14.1.1 Servo structure and Basics .............................................................................. 199

14.1.2 XPS PIDFF Architecture ................................................................................ 201

14.2 Filtering and Limitation ................................................................................................ 205

14.2.1 Current velocity and current acceleration ....................................................... 205

14.3 Feed Forward Loops and Servo Tuning ....................................................................... 206

14.3.1 Corrector = PIDFFVelocity ............................................................................ 206

14.3.2 Corrector = PIDFFAcceleration ..................................................................... 208

14.3.3 Corrector = PIDDual FFVoltage .................................................................... 210

14.3.4 Corrector = PIPosition .................................................................................... 211

15.0 Analog Encoder Calibration ............................................................... 213

16.0 Excitation Signal .................................................................................. 218

16.1 Introduction .................................................................................................................. 218

16.2 How to Use the Excitation-Signal Function ................................................................. 218

16.3 Group State Diagram .................................................................................................... 219

16.4 Function Description .................................................................................................... 219

17.0 Introduction to XPS Programming ................................................... 220

17.1 TCL Generator .............................................................................................................. 221

17.2 Principle of a TCL Script Redirection to a Telnet Session ........................................... 223

17.2.1 Principle of a Tcl Script Output Redirection to a Telnet Session ................... 223

17.2.2 Example of a Tcl Script Redirection to a telnet Session ................................. 223

17.3 Running Processes in Parallel ....................................................................................... 225

17.4 Documentation ............................................................................................................. 226

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Appendix

18.0 Appendix A: Hardware....................................................................... 227

18.1 Controller ...................................................................................................................... 227

18.2 Rear Panel Connectors .................................................................................................. 228

18.3 Environmental Requirements ....................................................................................... 229

19.0 Appendix B: General I/O Description ............................................... 230

19.1 Basic GPIO – Digital I/O (GPIO1) ............................................................................... 230

19.1.1 Digital Inputs .................................................................................................. 230

19.1.2 Digital Outputs ............................................................................................... 230

19.1.3 GPIO1 Connector ........................................................................................... 231

19.2 Basic GPIO – Analog I/O (GPIO2) .............................................................................. 232

19.2.1 Analog Inputs ................................................................................................. 232

19.2.2 Analog Outputs ............................................................................................... 232

19.2.3 GPIO2 Connector ........................................................................................... 232

19.3 Extended GPIO – Digital I/O (GPIO3, GPIO5, GPIO6) .............................................. 233

19.3.1 Digital Inputs .................................................................................................. 233

19.3.2 Digital Outputs ............................................................................................... 234

19.3.3 GPIO3 Connector ........................................................................................... 235

19.3.4 GPIO5 Connector ........................................................................................... 236

19.3.5 GPIO6 Connector ........................................................................................... 237

19.4 Extended GPIO – Analog I/O (GPIO4) ........................................................................ 237

19.4.1 Analog Inputs ................................................................................................. 237

19.4.2 Analog Outputs ............................................................................................... 237

19.4.3 GPIO4 Connector ........................................................................................... 238

19.5 Digital Encoder Inputs (Driver Boards & DRV00P) .................................................... 238

19.6 Digital Servitudes (Driver Boards, DRV00P & Analog Encoders Connectors) ........... 239

19.7 Analog Encoder Inputs (Analog Encoder Connectors)................................................. 239

19.7.1 Analog Encoder Connector ............................................................................ 239

20.0 Appendix C: Power Inhibit Connector ............................................. 241

21.0 Appendix D: PCO Connector ............................................................. 242

22.0 Appendix E: Motor Driver Cards ...................................................... 244

22.1 DC and Stepper Motor Driver XPS-DRV01 ................................................................ 244

22.2 Three phase AC Brushless Driver XPS-DRV02 .......................................................... 246

22.3 DC Motor Driver XPS-DRV03 .................................................................................... 246

22.4 Pass-Through Board XPS-DRV00P ............................................................................. 247

22.5 Piezoelectric Stages Driver XPS-DRVP1 ..................................................................... 247

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23.0 Appendix F: Configuration Wizard .................................................. 248

23.1 Webpage Description ................................................................................................... 248

23.1.1 First Level Parameters .................................................................................... 249

23.1.2 Second Level Parameters ................................................................................ 250

23.1.3 Save and Run the Stage .................................................................................. 251

23.2 Encoder ......................................................................................................................... 253

23.2.1 No Encoder (NoEncoder) ............................................................................... 253

23.2.2 RS422 Differential (AquadB) ......................................................................... 253

23.2.3 RS422 Differential with 3 Encoders (AquadBTheta) PP version only ........... 254

23.2.4 Sine/Cosine 1 Vpp (AnalogInterpolated) ....................................................... 255

23.2.5 Sine/Cosine 1 Vpp (AnalogInterpolated Theta) PP version only ................... 258

23.3 Profiler .......................................................................................................................... 259

23.3.1 Type: Sgamma ................................................................................................ 259

23.4 Servitudes ..................................................................................................................... 261

23.4.1 No Servitudes (NoServitudes) ........................................................................ 261

23.4.2 Piezo ............................................................................................................... 261

23.4.3 Spindle ............................................................................................................ 262

23.4.4 Driver Board (StandardEORDriverPlug)........................................................ 262

23.4.5 Encoder Board (StandardLimitAndLimitEncoderPlug) ................................. 262

23.4.6 Encoder Board (StandardLimitAndHomeEncoderPlug) ................................ 263

23.5 Backlash ....................................................................................................................... 263

23.5.1 Type: Standard................................................................................................ 263

23.6 Home Search ................................................................................................................ 264

23.6.1 No Home Search (NoHomeSearch) ................................................................ 264

23.6.2 Mechanical Zero and Index (MechanicalZeroAndIndexHomeSearch) .......... 264

23.6.3 Mechanical Zero Only (MechanicalZeroHomeSearch) .................................. 265

23.6.4 MinusEndOfRunAndIndexHomeSearch ........................................................ 266

23.6.5 MinusEndOfRunHomeSearch ........................................................................ 266

23.6.6 PlusEndOfRunHomeSearch ........................................................................... 266

23.6.7 IndexHomeSearch .......................................................................................... 267

23.6.8 CurrentPositionAsHome ................................................................................. 267

23.7 Motion done .................................................................................................................. 267

23.7.1 Theoretical ...................................................................................................... 267

23.7.2 VelocityAndPositionWindow ......................................................................... 267

23.8 Corrector ....................................................................................................................... 268

23.8.1 NoCorrector .................................................................................................... 268

23.8.2 NoEncoderPosition ......................................................................................... 268

23.8.3 PIDDualFFVoltage ......................................................................................... 269

23.8.4 PIDFFAcceleration ......................................................................................... 274

23.8.5 PIDFFVelocity ............................................................................................... 279

23.8.6 PIPosition ....................................................................................................... 283

23.9 Motor Driver Interface .................................................................................................. 286

23.9.1 NoMotorInterface ........................................................................................... 287

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23.9.2

AnalogAcceleration ........................................................................................ 287

23.9.3 AnalogPosition ............................................................................................... 288

23.9.4 AnalogPositionPiezo ...................................................................................... 288

23.9.5 AnalogSin60Acceleration ............................................................................... 288

23.9.6 AnalogSin60AccelerationLMI ....................................................................... 290

23.9.7 AnalogDualSin60Acceleration ....................................................................... 290

23.9.8 AnalogDualSin60AccelerationLMI ................................................................ 292

23.9.9 AnalogSin90Acceleration ............................................................................... 292

23.9.10 AnalogSin90AccelerationLMI ....................................................................... 292

23.9.11 AnalogDualSin90Acceleration ....................................................................... 293

23.9.12 AnalogDualSin90AccelerationLMI ................................................................ 293

23.9.13 AnalogSin120Acceleration ............................................................................. 294

23.9.14 AnalogSin120AccelerationLMI ..................................................................... 294

23.9.15 AnalogDualSin120Acceleration ..................................................................... 295

23.9.16 AnalogDualSin120AccelerationLMI .............................................................. 295

23.9.17 AnalogStepperPosition ................................................................................... 296

23.9.18 AnalogVelocity ............................................................................................... 298

23.9.19 AnalogVoltage ................................................................................................ 299

23.9.20 DigitialStepperPosition ................................................................................... 302

23.10 Driver ............................................................................................................................ 303

23.10.1 No Driver (NoDriver) ..................................................................................... 304

23.10.2 NonConfigurableDriver .................................................................................. 304

23.10.3 DRV00 (for Non-Configurable External Driver) ........................................... 304

23.10.4 DRV00P ......................................................................................................... 304

23.10.5 DRV01AnalogStepperPosition (for stepper motors) ...................................... 305

23.10.6 DRV01AnalogVelocity (with tachometer feedback) ...................................... 306

23.10.7 DRV01AnalogVoltage (without tachometer feedback) .................................. 308

23.10.8 DRV02............................................................................................................ 308

23.10.9 DRV02P ......................................................................................................... 310

23.10.10 XPS-DRV03 for acceleration control (DRV03AnalogAcceleration) ............. 311

23.10.11 DRV03AnalogVelocity .................................................................................. 312

23.10.12 DRV03AnalogVoltage ................................................................................... 315

23.10.13 DRV03HAnalogAcceleration ......................................................................... 316

23.10.14 DRV03HAnalogVelocity ............................................................................... 316

23.10.15 DRV03HAnalogVoltage ................................................................................ 317

23.10.16 DRVM1AnalogVelocity ................................................................................. 317

23.10.17 DRVM2AnalogVelocity ................................................................................. 317

23.10.18 DRVM3AnalogVelocity ................................................................................. 317

23.10.19 DRVM4AnalogAcceleration .......................................................................... 317

23.10.20 DRVM5AnalogVelocity ................................................................................. 317

23.10.21 DRVP1AnalogPositionPiezo .......................................................................... 317

23.10.22 EDBL.............................................................................................................. 318

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23.11 Stage ............................................................................................................................. 319

23.11.1 Type: GenericInformation .............................................................................. 319

Service Form ...................................................................................................... 321

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XPS-RL Universal High-Performance Motion Controller/Driver

EU Declaration of Conformity

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XPS-RL Universal High-Performance Motion Controller/Driver

Preface

Confidentiality & Proprietary Rights

Reservation of Title

The Newport Programs and all materials furnished or produced in connection with them

(“Related Materials”) contain trade secrets of Newport and are for use only in the

manner expressly permitted. Newport claims and reserves all rights and benefits

afforded under law in the Programs provided by Newport Corporation.

Newport shall retain full ownership of Intellectual Property Rights in and to all

development, process, align or assembly technologies developed and other derivative

work that may be developed by Newport. Customer shall not challenge, or cause any

third party to challenge, the rights of Newport.

Preservation of Secrecy and Confidentiality and Restrictions to Access

Customer shall protect the Newport Programs and Related Materials as trade secrets of

Newport, and shall devote its best efforts to ensure that all its personnel protect the

Newport Programs as trade secrets of Newport Corporation. Customer shall not at any

time disclose Newport's trade secrets to any other person, firm, organization, or

employee that does not need (consistent with Customer's right of use hereunder) to

obtain access to the Newport Programs and Related Materials. These restrictions shall

not apply to information (1) generally known to the public or obtainable from public

sources; (2) readily apparent from the keyboard operations, visual display, or output

reports of the Programs; (3) previously in the possession of Customer or subsequently

developed or acquired without reliance on the Newport Programs; or (4) approved by

Newport for release without restriction.

Sales, Tech Support & Service

North America & Asia

Newport Corporation

1791 Deere Ave.

Irvine, CA 92606, USA

Sales

Tel.: (877) 835-9620

e-mail: [email protected]

Technical Support

Tel.: (800) 222-6440

e-mail: tech@newport.com

Service, RMAs & Returns

Tel.: (800) 222-6440

e-mail: [email protected]

Europe

MICRO-CONTROLE Spectra-Physics S.A.S

9, rue du Bois Sauvage

91055 Évry CEDEX

France

Sales France

Tel.: +33 (0)1.60.91.68.68

e-mail: france@newport.com

Sales Germany

Tel.: +49 (0) 61 51 / 708 – 0

e-mail: germany@newport.com

Sales UK

Tel.: +44 (0)1635.521757

e-mail: uk@newport.com

Technical Support

e-mail: [email protected]

Service & Returns

Tel.: +33 (0)2.38.40.51.55

EDH0365En1020 — 02/18 xiv

XPS-RL Universal High-Performance Motion Controller/Driver

Service Information

The user should not attempt any maintenance or service of the XPS Series

Controller/Driver system beyond the procedures outlined in this manual. Any problem

that cannot be resolved should be referred to Newport Corporation. When calling

Newport regarding a problem, please provide the Tech Support representative with the

following information:

• Your contact information.

• System serial number or original order number.

• Description of problem.

• Environment in which the system is used.

• State of the system before the problem.

• Frequency and repeatability of problem.

• Can the product continue to operate with this problem?

• Can you identify anything that may have caused the problem?

Newport Corporation RMA Procedures

Any XPS Series Controller/Driver being returned to Newport must be assigned an RMA

number by Newport. Assignment of the RMA requires the item’s serial number.

Packaging

XPS Series Controller/Driver being returned under an RMA must be securely packaged

for shipment. If possible, re-use the original packaging.

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EDH0365En1020 — 02/18 xvi

XPS-RL Controller User’s Manual

1.0 Introduction

1.1 Scope of the Manual

The XPS is an extremely high-performance, easy to use, integrated motion

controller/driver offering high-speed communication through 10/100/1000 Base-T

Ethernet, outstanding trajectory accuracy and powerful programming functionality. It

combines user-friendly web interfaces with advanced trajectory and synchronization

features to precisely control from the most basic to the most complex motion sequences.

Multiple digital and analog I/O's, triggers and supplemental encoder inputs provide

users with additional data acquisition, synchronization and control features that can

improve the most demanding motion applications.

To maximize the value of the XPS Controller/Driver system, it is important that users

become thoroughly familiar with available documentation:

The XPS Quick Start is delivered as a hard copy with the controller.

The XPS-RL User's Manual, Programmer’s and Software Drivers manuals are PDF files

accessible from the controller disk which can be downloaded from the controller

website under the tab Documentation.

.NET assemblies and corresponding sources are available from the controller disk

which can be downloaded from the controller website under the tab Documentation ->

Drivers & Examples.

LabVIEW VIs with examples are also available to download from the Newport website.

The first part of this manual serves as an introduction and also as a reference. It

includes:

1. Introduction

2. System Overview

3. Getting Started Guide

User’s Manual

1 EDH0365En1020 — 02/18

XPS-RL Controller User’s Manual

The second part provides a detailed description of all software tools of the XPS

controller. It also includes an introduction to FTP connections and some general

guidelines for troubleshooting, maintenance and service:

4. Software Tools

5. Maintenance and Service

The third part provides an exhaustive description of the XPS architecture, its features

and capabilities. Complementing the programmer’s guide, this part

is educational and is

organized by features starting with the basics and getting to the more advanced features.

It provides a complete list of descriptions of different features including:

6. XPS Architecture

7. Motion

8. Trajectories

9. Emergency Brake and Emergency Stop

10. Compensation

11. Event Triggers

12. Data Gathering

13. Output Triggers

14. Control Loops

15. Analog Encoder Calibration

16. Excitation Signal

17. 17. Pre-Corrector Excitation Signal

18. Introduction to XPS programming

EDH0365En1020 — 02/18 2

XPS-RL Controller User’s Manual

1.2 Definitions and Symbols

The following terms and symbols are used in this documentation and also appear on the

XPS Series Controller/Driver where safety-related issues occur.

1.2.1 General Warning or Caution

Figure 1: General warning or caution symbol.

The Exclamation Symbol in Figure 1 may appear in Warning and Caution tables in this

document. This symbol designates an area where personal injury or damage to the

equipment is possible.

1.2.2 Electric Shock

Figure 2: Electrical shock symbol.

The Electrical Shock Symbol in Figure 2 may appear on labels affixed to the XPS

Series Controller/Driver. This symbol indicates a hazard arising from dangerous

voltages. Any mishandling could result in damage to the equipment, personal injury, or

even death.

1.2.3 European Union CE Mark

Figure 3: CE mark.

The presence of the CE Mark on Newport Corporation equipment means that it has

been designed, tested and certified to comply with all current and applicable European

Union (CE) regulations and recommendations.

1.2.4 “ON” Symbol

Figure 4: “ON” symbol.

The “ON” Symbol in Figure 4 appears on the power switch of the XPS Series

Controller/Driver. This symbol represents the “Power On” condition.

1.2.5 “OFF” Symbol

Figure 5: “OFF” symbol.

The “Off” Symbol in Figure 5 appears on the power switch of the XPS Series

Controller/Driver. This symbol represents the “Power Off” condition.

3 EDH0365En1020 — 02/18

XPS-RL Controller User’s Manual

1.3 Warnings and Cautions

The following are definitions of the Warnings, Cautions and Notes that may be used in

this manual to call attention to important information regarding personal safety, safety

and preservation of the equipment, or important tips.

WARNING

Situation has the potential to cause bodily harm or death.

CAUTION

Situation has the potential to cause damage to property or

equipment.

WARNING

This product is equipped with a 3-wire grounding type plug. Any

interruption of the grounding connection can create an electric shock

hazard. If you are unable to insert the plug into your wall plug

receptacle, contact an electrician to perform the necessary alterations

to ensure that the green (green-yellow) wire is attached to earth

ground.

System earthing must be of type earthed neutral (TN-) as defined by

CEI60364.

NOTE

Additional information the user or operator should consider.

1.4 General Warnings and Cautions

The following general safety precautions must be observed during all phases of

operation of this equipment.

Failure to comply with these precautions or with specific warnings elsewhere in this

manual violates safety standards of design, manufacture, and the intended use of the

equipment.

• Heed all warnings on the unit and in the operating instructions.

• To prevent damage to the equipment, read the instructions in this manual for the

selection of the proper input voltage.

• Only plug the Controller/Driver unit into a grounded power outlet.

• Ensure that the equipment is properly grounded to earth ground through the

grounding lead of the AC power connector.

• Route power cords and cables where they are not likely to be damaged.

• Use Proper Power Cord

Use only the power cord specified for this product and certified for the country of

use.

• The system must be installed in such a way that the power switch and the power

connector remain accessible to the user.

• Disconnect or do not plug-in the AC power cord under the following conditions:

– If the AC power cord or any other attached cables are frayed or damaged.

– If the power plug or receptacle is damaged.

– If the unit is exposed to rain or excessive moisture, or liquids are spilled on it.

EDH0365En1020 — 02/18 4

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Newport XPS-RL Motion Controller User manual

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